Abstract: A controlled mechanical carrier motion system comprising a base support, a pivot holder and a plurality of pivoting links with the pivoting links rotatably coupled to both to members of the pivot holder and to either the base support or to a corresponding one of a plurality of force imparting members, or both, to rotate about axes which extend in different directions for each of these rotatable couplings in a link, typically in accord with specific geometrical arrangements, and in different directions from similar axes in another of such links.

Abstract: A controlled relative motion system comprising a base support, a pivot holder and a plurality of pivoting links with the pivoting links rotatably coupled to both the base support and to members of the pivot holder to rotate about axes which extend in different directions for each of these rotatable couplings in a link, typically in accord with specific geometrical arrangements, and in different directions from similar axes in another of such links. Such systems can incorporate a variety of force imparting members to control movements of various ones of the pivoting links or pivot holder members. The pivoting links can be bent, and the pivot holder members can be hinged.

Abstract: A pair of connected joints in a master-slave robotic system each operated by a plurality of force imparting means. Such force imparting means for the second joint imparts force thereto at an acute angle. A third joint is used with a flexible drive tape partly internal thereto. A gripping system having an orthogonally rotatable base effector is supported by this joint using a pair of linear actuators to position the base effector as desired. A counterpart system having an orthogonally rotatable base follower orthogonally rotatable on a pair of linear actuators uses the actuators to null out forces occurring thereon.

Abstract: A controlled relative motion system comprising a base support, a pivot holder and a plurality of pivoting links with the pivoting links rotatably coupled to both the base support and to members of the pivot holder to rotate about axes which extend in different directions for each of these rotatable couplings in a link, typically in accord with specific geometrical arrangements, and in different directions from similar axes in another of such links. Such systems can incorporate a variety of force imparting members to control movements of various ones of the pivoting links or pivot holder members.

Abstract: A pair of connected joints is provided in a master-slave robotic system each operated by a plurality of force imparting means. Such force imparting means for the second joint supported on a member controlled by the first joint imparts force to a member controlled by the second joint at an acute angle. A third joint is used with a flexible drive tape partly internal thereto.

Abstract: A mechanical manipulator having actuators therein operating across orthogonal pivot joints formed between pivot connection structures and a link arrangement, and also between these same pivot connection structures and a corresponding effector. The actuators are coupled to effectors to position them as selected by having portions of such actuators coupled to the effectors that are capable of moving toward and away from other portions of such actuators connected to the link structure. The components of the mechanical manipulator, except for portions of the effectors, can be enclosed so as to allow the effectors to move in response to the actuators while excluding foreign matter from the enclosed portion thereof.

Abstract: A mechanical joint includes a mechanism for effecting pitch and yaw, the effecting mechanism being attached to a housing support, a yaw drive mechanism slidably engaging the housing support, a pitch drive mechanism slidably engaging the housing support and a mechanism to actuate the yaw drive mechanism and the pitch drive mechanism, In accordance with the present invention, a unitary guide mechanism attached to the housing stabilizes movement of the yaw drive mechanism and the pitch drive mechanism by receiving at least a portion of the yaw drive mechanism and the pitch drive mechanism.

Abstract: A drive mechanism (62) for driving a mechanical joint (10) that includes first and second gimbal assemblies (14, 16) rotatably mounted within the interior of a support (18) and includes a decoupling mechanism (70, 72) in slidable engagement with the support (18) for effecting movement of the joint (10) in a compound yaw and pitch motion includes a yaw drive member (66) having a gear surface (82) in engagement with a drive shaft (84) having a beveled gear end portion (80) arranged to engage the gear surface (82). A pitch drive member (68) includes a gear surface (78) in engagement with a bevel gear end portion (76) of a second drive shaft (74). Both yaw and pitch drive members (66, 68) are pivotally connected to the decoupling mechanism (70, 72).

Abstract: A mechanical manipulator having a joint with a base support and an output support each of which has an orthogonal pivot connection arrangement connecting them in one axis to a common joining arrangement connecting them in an orthogonal axis through which they are movably joined, there being a pair of guides with each rotatably connected to one of the supports and movably joined with each other. A plurality of such joints joined with one another can be provided between two rotary interfaces.

Abstract: A robot joint having a ball-like arrangement on a support, the ball arrangement positioned in a socket device in which the ball is free to move so the socket device can rotate in various directions about the ball arrangement. First and second connectors connect force imparting arrangements to fixed points in the socket device. One of these force imparting arrangements is capable of approaching or receding from the other in some rotations of the socket device.

Abstract: The mechanical joint includes a spherical member having a pair of grooves in its outer surface, each groove extending circumferentially about the spherical member and disposed approximately 90.degree. from each other. A housing has a concave spherical socket for receiving the spherical member. The housing includes a pair of slots located proximately at an equatorial plane of the spherical member. A frame is fixedly secured to the spherical member at the intersection of the first and second groove opposite the housing. A first ribbon, slidable within the first groove, is attached to pivot pins in the slots of the housing and is looped around a first pulley within the frame. A second ribbon slidable within the second groove is attached to pivot pins mounted in the housing at the approximate midpoints between the slots of the housing. The second ribbon is attached to a second pulley within the housing. An output member is fixedly connected to the housing.

Abstract: The present invention includes a robot wrist actuator having a cylindrical housing with first and second housing wall portions coaxially disposed with respect to each other. First and second gimbal assemblies are included within the housing for pitch and yaw movement and are rotatably mounted to the housing. First and second linkages connect the first and second gimbal assemblies such that movement is transmitted from one gimbal assembly to another.

Abstract: A robot wrist actuator includes a mechanical joint having a forward and a rearward bearing assembly. The bearing assemblies rotate about respective spaced-apart center points positioned along a primary axis. Each bearing assembly includes an outer and an inner bearing. The outer and the inner bearings pivot about respective axes that are substantially perpendicular to each other and intersect at the respective center point. First and second linkage assemblies for transmitting motion from the rearward bearing assembly to the forward bearing assembly are rotatably secured to a housing. The first linkage assembly is attached to the forward outer bearing at one end and to the rearward outer bearing at another end. The second linkage assembly is attached to the forward inner bearing at one end and to the rearward inner bearing at the other end. A drive assembly provides motive force to the rearward bearing assembly. A tool member adapted for tool attachment is attached to the forward outer bearing.

Abstract: A superconducting pin and socket conductor is formed with a cylindrical pin of superconducting material, such as niobium, which fits into a mating superconducting cylinder, such as niobium or titanium, which is open at the top. A superconducting wire is laser welded to the bottom of the cylinder and a second niobium wire is laser welded to the top of the pin. A sleeve of a material, such as copper, aluminum, or magnesium, which at liquid helium temperatures has a much higher coefficient thermal expansion than the superconducting material, surrounds the cylinder. As a result, upon cooling the outer sleeve crimps the cylinder into a firm and uniform contact along the length of the pin.

Abstract: A present invention is a robot wrist actuator including a mechanical joint having a housing. First and second gimbal assemblies are rotatably mounted to the interior of the housing to provide pitch and yaw movement. A collar is rotatably attached to the housing. A drive mechanism is connected to the second gimbal assembly to provide roll movement. An output shaft for tool attachment is connected to the first gimbal assembly. A drive assembly preferably including linearly-actuated rods provides motive force for movement of the first and second gimbal assemblies.

Abstract: A hydraulic servomechanism permitting a wrist like universal motion of an extending member through a generally hemispherical operating range in which a sphere or sphere-like drive member is mounted for movement in a spherical or sphere-like cavity and driven by fluid pressure in intersecting circumferential channels mounted either in the drive member or the support means. The circumferential channels are sealed by curved metal bands with gaskets along the edge. Hydraulic fluid enters the channels through ports in the sealing bands themselves so as to facilitate easier movement of the drive member.

Abstract: A base structure defining a generally hemispherical seat and a generally spherically shaped body mounted in seating engagement with the seat. The base defines a pair of diametrically opposed guide channels each of which receives a portion of a different one of a pair of trunnions, another portion of each trunnion being received in a first circumferentially extending channel in the body. The body has a second circumferentially extending channel at right angles to the first circumferentially extending channel for sliding and rotating reception of a portion of each of a pair of second trunnions that have other portions each journaled in the base between respective ends of the guide channels and in diametrically opposed relationship.